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Robot Control Device, Robot, Robot System, And Calibration Method Of Camera

a robot and control device technology, applied in the field of robot camera calibration, can solve the problems of robot accuracy deterioration, difficulty in calibrating the camera, and no guarantee that the nonlinear optimization process will converge to an optimal solution

Inactive Publication Date: 2019-01-17
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0005]An advantage of some aspects of the invention is to solve at least a part of the

Problems solved by technology

As described in JP-A-2012-91280, in the case of using the camera installed in the arm, there is a need to solve a so-called “AX=XB problem” related to an unknown transformation matrix X between a camera coordinate system and a robot coordinate system, and there is a problem that it is difficult to calibrate the camera.
In the solution of the AX=XB problem, there is a no guarantee that the nonlinear optimization process will converge to an optimal soluti

Method used

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  • Robot Control Device, Robot, Robot System, And Calibration Method Of Camera

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Experimental program
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second embodiment

E. Second Embodiment

[0094]FIG. 5 is an explanatory diagram illustrating a coordinate system of the robot 100 in a second embodiment. The difference from FIG. 3 of the first embodiment is that the transformation CHP or PHC between the camera coordinate system ΣC of the fixed camera 170 and the pattern coordinate system ΣP is estimated using the fixed camera 170 instead of assuming that the transformation T2HP from the second hand coordinate system ΣT2 to the pattern coordinate system ΣP is known. The configuration of the robot 100 illustrated in FIGS. 1 and. 2 is the same as that of the first embodiment.

[0095]One or both of two cameras 170L and 170R is used as the fixed camera 170. It is possible to estimate the position and attitude of the calibration pattern 400 with higher accuracy by using two cameras 170L and 170R as stereo cameras. In the second embodiment, the calibration is assumed to be completed, and the intrinsic parameter and the extrinsic parameter are assumed to be dete...

third embodiment

F. Third Embodiment

[0103]FIG. 7 is an explanatory diagram illustrating a coordinate system of a robot 100a in a third embodiment. The difference from FIG. 6 of the second embodiment is that the robot 100a is a single armed robot having one arm 160 and the fixed camera 170 is installed independently of the robot 100a. Similarly to the second embodiment, the transformation A1HC between the arm coordinate system ΣA1 and the camera coordinate system ΣC is assumed to be known. Since the processing procedure of the third embodiment is the same as the processing procedure of the second embodiment illustrated in FIG. 6, the description will be omitted.

[0104]Similarly to the second embodiment, it is possible to estimate the coordinate transformation matrix T1HE or EHT1 between the hand coordinate system ΣT and the hand eye coordinate system ΣE using the position and attitude of the arm 160 at the time of capturing the pattern image and the pattern image in the third embodiment. In addition, ...

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Abstract

A robot control device includes a processor that creates a parameter of a camera including a coordinate transformation matrix between a hand coordinate system of an arm and a camera coordinate system of the camera. The processor calculates a relationship between an arm coordinate system and a pattern coordinate system at the time of capturing the pattern image of the calibration pattern, and estimates a coordinate transformation matrix between the hand coordinate system of the arm and the camera coordinate system of the camera with the relationship between the arm coordinate system and the pattern coordinate system, a position and attitude of the arm at the time of capturing a pattern image, and the pattern image.

Description

BACKGROUND1. Technical Field[0001]The present invention relates to calibration of a camera for a robot.2. Related Art[0002]There are cases where a camera is installed in a robot to have a function of an eye in order to make the robot perform advanced processing. As an installation method of the camera, there are a method of installing the camera independently of a robot arm and a method of installing the camera on a robot arm (hand eye). By using a hand eye, a wider field of view can be obtained, and a field of view of the fingers working can be secured as an advantage.[0003]In JP-A-2012-91280, a calibration method of a coordinate system in a robot system using a camera installed in an arm is disclosed. As described in JP-A-2012-91280, in the case of using the camera installed in the arm, there is a need to solve a so-called “AX=XB problem” related to an unknown transformation matrix X between a camera coordinate system and a robot coordinate system, and there is a problem that it i...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1692G01B11/002G05B2219/39008G05B2219/39045G05B2219/39057
Inventor INAZUMI, MITSUHIRONODA, TAKAHIKO
Owner SEIKO EPSON CORP